Advanced driver assistance system, and vehicle having the same

ABSTRACT

An advanced driver assistance system (ADAS) and a vehicle including the same include a camera; a plurality of distance detectors; a braking device; and a processor configured to recognize a fusion track and a plurality of single tracks based on obstacle information recognized by the camera and obstacle information recognized by at least one of the plurality of distance detectors, upon determining that the fusion track is present, obtain a cluster area in a stationary state and a cluster area in a moving state based on movement information and reference position information of the fusion track and movement information and position information of each of the single tracks, determine a possibility of collision based on the obtained cluster area, and control the braking device in response to the determined possibility of collision.

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims priority to Korean Patent Application No.10-2022-0039440, filed on Mar. 30, 2022, the entire contents of which isincorporated herein for all purposes by this reference.

BACKGROUND OF THE PRESENT DISCLOSURE Field of the Present Disclosure

The present disclosure relates to an advanced driver assistance systemfor preventing collision with an obstacle, and a vehicle having thesame.

Description of Related Art

Recently, there have been development on various types of advanceddriver assistance system (ADAS) that are designed to inform a driver oftravel information related to a vehicle to prevent an accident fromoccurring due to driver's inattentiveness and perform autonomoustravelling for driver's convenience.

One example of the ADAS is a technology for detecting an obstacle arounda vehicle by installing a distance sensor on the vehicle and warning thedriver of the obstacle.

Another example of the ADAS is a technology for autonomously travellingto a destination based on road information and current positioninformation, while detecting an obstacle and avoiding the detectedobstacle to autonomously drive toward the destination.

ADAS detects an obstacle using a camera or various sensors provided inthe vehicle. In ADAS, when the positions of obstacles detected bycameras or various sensors become adjacent to the vehicle body, it isdifficult to perform sensor fusion on each detected obstacle, whichcauses a difficulty in generating a fusion track for each of theobstacles.

Accordingly, in the existing ADAS, the accuracy of detecting an obstacleand the accuracy of determining a collision are low, and it is difficultto perform collision warning and collision avoidance control, and thusthe vehicle may not stably travel.

The information included in this Background of the present disclosure isonly for enhancement of understanding of the general background of thepresent disclosure and may not be taken as an acknowledgement or anyform of suggestion that this information forms the prior art alreadyknown to a person skilled in the art.

BRIEF SUMMARY

Various aspects of the present disclosure are directed to providing anadvanced driver assistance system (ADAS) for obtaining a cluster area ofa plurality of obstacles and recognizing an obstacle based on theobtained cluster area, and a vehicle including the same.

The present disclosure may provide an advanced driver assistance system(ADAS) for recognizing a cluster obstacle based on movement informationof a plurality of obstacles, and a vehicle having the same.

The technical objectives of the present disclosure are not limited tothe above, and other objectives may become apparent to those of ordinaryskill in the art based on the following descriptions.

According to an aspect of the present disclosure, there is provided anadvanced driver assistance system (ADAS) including: a communicatorconfigured to communicate with a camera and a plurality of distancedetectors; and a processor configured to determine whether a fusiontrack is present based on obstacle information recognized by the cameraand obstacle information recognized by at least one of the plurality ofdistance detectors; upon concluding that the fusion track is present,generate a gate area of the fusion track based on movement informationof the fusion track and reference position information of the fusiontrack; generate a cluster area based on the gate area of the fusiontrack, position information of a plurality of single tracks, andmovement information of the plurality of single tracks; and determine apossibility of collision based on the obtained cluster area.

The processor may be configured to determine whether the fusion track isin a stationary state based on the movement information of the fusiontrack, and upon concluding that the fusion track is in the stationarystate, generate the gate area of the fusion track based on firstreference gate size information.

The processor may be configured to: upon concluding that the fusiontrack is in the stationary state, recognize single tracks in thestationary state based on the movement information of the plurality ofsingle tracks; based on the position information of the recognizedsingle tracks in the stationary state and the reference positioninformation of the fusion track, recognize at least one single trackwhich is present in a range less than or equal to a reference distancefrom the fusion track; and obtain the cluster area based on positioninformation of the recognized at least one single track.

The processor may be configured to: based on the position information ofthe recognized at least one single track, generate a gate area of therecognized at least one single track; generate a line connecting acorner of the gate area of the fusion track and a corner of the gatearea of the at least one single track that are provided adjacent to eachother; and obtain the cluster area using the generated line as aboundary.

The processor may be configured to determine cluster validity for the atleast one single track based on whether the at least one single track ata first time point is a same as the at least one single track at asecond time point, and a change in distance between the fusion track andthe at least one single track corresponding to a change in time from thefirst time point to the second time point, wherein the second time pointmay be a time at which a predetermined time period has elapsed from thefirst time point.

The processor may be configured to: determine whether the fusion trackis in a moving state based on the movement information of the fusiontrack; upon concluding that the fusion track is in the moving state,obtain first gate size information and second gate size informationbased on a velocity in a first direction of the fusion track, a velocityin a second direction of the fusion track, and first reference gate sizeinformation; generate a first gate area based on the obtained first gatesize information, and generate a second gate area based on the obtainedsecond gate size information.

The processor may be configured to: upon concluding that the fusiontrack is in the moving state, identify single tracks located within thefirst gate area based on the position information of the plurality ofsingle tracks; and based on the movement information of the singletracks within the first gate area, a velocity of the fusion track in afirst direction, and the generated first gate area, recognize a firstsingle track, of which a velocity difference from the fusion track isless than or equal to a first reference velocity, among the singletracks in the moving state within the first gate area.

The processor may be configured to: upon concluding that the fusiontrack is in the moving state, identify single tracks located within thesecond gate area based on the position information of the plurality ofsingle tracks; and based on the movement information of the singletracks within the second gate area, a velocity of the fusion track in asecond direction, and the generated second gate area, recognize a secondsingle track, of which a velocity difference from the fusion track isless than or equal to a second reference velocity, among the singletracks in the moving state within the second gate area.

The processor is configured to: generate a gate area of the first singletrack and a gate area of the second single track; and generate a lineconnecting an corner of the gate area of the fusion track and an cornerof the gate area of the first single track that are provided adjacent toeach other, and generate a line connecting a corner of the gate area ofthe fusion track and a corner of the gate area of the second singletrack that are provided adjacent to each other, to obtain the clusterarea.

The processor may be configured to: upon concluding that there is nofusion track, set a track recognized by the camera among the pluralityof single tracks as a reference single track; determine whether thereference single track is in a stationary state based on movementinformation of the reference single track; and upon concluding that thereference single track is in the stationary state, generate a gate areaof the reference single track based on reference position information ofthe reference single track and reference gate size information of thereference single track.

The processor may be configured to: upon concluding that the referencesingle track is in the stationary state, recognize single tracks in thestationary state based on movement information of remaining singletracks; based on the position information of the recognized singletracks in the stationary state and the reference position information ofthe reference single track, recognize at least one single track which ispresent in a range less than or equal to a reference distance from thereference single track; and obtain the cluster area based on positioninformation of the recognized at least one single track.

The processor may be configured to: based on the position information ofthe recognized at least one single track, generate a gate area of therecognized at least one single track; generate a line connecting acorner of the gate area of the reference single track and a corner ofthe gate area of the at least one single track that are providedadjacent to each other; and obtain the cluster area using the generatedline as a boundary.

The processor may be configured to determine cluster validity for the atleast one single track based on whether the at least one single track ata first time point is a same as the at least one single track at asecond time point, and a change in distance between the reference singletrack and the at least one single track corresponding to a change intime from the first time point to the second time point, wherein thesecond time point may be a time at which a predetermined time period haselapsed from the first time point.

The processor may be configured to: determine whether the referencedsingle track is in a moving state based on the movement information ofthe referenced single track; and upon concluding that referenced singletrack is in the moving state, generate the gate area of the referencesingle track based on a velocity in a first direction of the referencesingle track, a velocity in a second direction of the referenced singletrack, and the second reference gate size information.

The processor may be configured to: upon concluding that the referencesingle track is in the moving state, identify single tracks in a movingstate based on the movement information of the remaining single tracks;and based on position information of the identified single tracks in themoving state, recognize single tracks in a moving state, which arelocated within the gate area of the reference single track, among theidentified single tracks in the moving state.

The processor may be configured to: based on the movement information ofthe recognized single tracks in the moving state and the movementinformation of the reference single track, recognize a single track inthe moving state, of which a velocity difference from the referencesingle track is less than or equal to a reference velocity, among therecognized single tracks in a moving state single track; and generate agate area of the recognized single track in a moving state.

The processor may be configured to generate a line connecting a cornerof the gate area of the reference single track and a corner of the gatearea of the recognized single track in the moving state that areadjacent to each other, to obtain the cluster area.

The processor may be configured to, based on whether the recognizedsingle track in a moving state at a first time point is the same as therecognized single track in a moving state at a second time point, and achange in distance between the reference single track and the recognizedsingle track in the moving state corresponding to a change in time fromthe first time point to the second time point, determine clustervalidity for the recognized single track in the moving state, whereinthe second time point may be a time at which a predetermined time periodhas elapsed from the first time point.

According to an aspect of the present disclosure, there is provided avehicle including: a camera; a plurality of distance detectors; abraking device; and a processor configured to: recognize a fusion trackand a plurality of single tracks based on obstacle informationrecognized by the camera and obstacle information recognized by at leastone of the plurality of distance detectors; upon concluding that thefusion track is present, obtain a cluster area in a stationary state anda cluster area in a moving state based on movement information andreference position information of the fusion track and movementinformation and position information of each of the single tracks; anddetermine a possibility of collision based on the obtained cluster area,wherein the processor is configured to, upon concluding that the fusiontrack is present, generate a gate area of the fusion track, generate agate area of at least one single track among the plurality of singletracks based on the gate area of the fusion track, and obtain thecluster area using the gate area of the fusion track and the gate areaof the at least one single track, and upon concluding that the fusiontrack is not present, set a single track recognized by the camera amongthe plurality of single tracks as a reference single track, generate agate area of the reference single track, generate gate areas ofremaining at least one single track among the plurality of single tracksbased on the gate area of the reference single track, and obtain thecluster area using the gate area of the reference single track and thegate area of the remaining at least one single track.

The processor may be configured to, based on whether the at least onesingle track at a first time point is the same as the at least onesingle track at a second time point, and a change in distance betweenthe fusion track and the at least one single track corresponding to achange in time from the first time point to the second time point,determine cluster validity for the at least one single track, whereinthe second time point may be a time at which a predetermined time periodhas elapsed from the first time point.

The processor may be configured to, based on whether the remaining atleast one single track at a first time point is the same as theremaining at least one single track at a second time point, and a changein distance between the reference single track and the remaining atleast one single track corresponding to a change in time from the firsttime point to the second time point, determine cluster validity for theremaining at least one single track, wherein the second time point maybe a time at which a predetermined time period has elapsed from thefirst time point.

The methods and apparatuses of the present disclosure have otherfeatures and advantages which will be apparent from or are set forth inmore detail in the accompanying drawings, which are incorporated herein,and the following Detailed Description, which together serve to explaincertain principles of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating an example of a vehicle body accordingto an exemplary embodiment of the present disclosure;

FIG. 2 is a diagram illustrating an example of recognition areas of animage acquirer and a distance detector of a vehicle according to anexemplary embodiment of the present disclosure;

FIG. 3 is a diagram illustrating channels of a front radar sensorprovided in a vehicle according to an exemplary embodiment of thepresent disclosure;

FIG. 4 is a control block diagram illustrating a vehicle according to anexemplary embodiment of the present disclosure;

FIG. 5 and FIG. 6 are diagrams illustrating generation of a gate areawhen there is a fusion track among tracks recognized through a vehicleaccording to an exemplary embodiment of the present disclosure;

FIG. 7 is a diagram illustrating an example of obtaining a cluster areawhen there is a fusion track among tracks recognized through a vehicleaccording to an exemplary embodiment of the present disclosure;

FIG. 8 is a diagram illustrating generation of a gate area when there isno fusion track among tracks recognized through a vehicle according toan exemplary embodiment of the present disclosure;

FIG. 9 is a diagram illustrating an example of obtaining a cluster areawhen there is no fusion track among tracks recognized through a vehicleaccording to an exemplary embodiment of the present disclosure;

FIG. 10A, FIG. 10B, and FIG. 10C are diagrams illustrating an example ofvalidity determination of tracks recognized through a vehicle accordingto an exemplary embodiment of the present disclosure; and

FIG. 11 is a diagram illustrating an example of determination of acollision with a cluster area obtained through a vehicle according to anexemplary embodiment of the present disclosure.

It may be understood that the appended drawings are not necessarily toscale, presenting a somewhat simplified representation of variousfeatures illustrative of the basic principles of the present disclosure.The specific design features of the present disclosure as includedherein, including, for example, specific dimensions, orientations,locations, and shapes will be determined in part by the particularlyintended application and use environment.

In the figures, reference numbers refer to a same or equivalent parts ofthe present disclosure throughout the several figures of the drawing.

DETAILED DESCRIPTION

Reference will now be made in detail to various embodiments of thepresent disclosure(s), examples of which are illustrated in theaccompanying drawings and described below. While the presentdisclosure(s) will be described in conjunction with exemplaryembodiments of the present disclosure, it will be understood that thepresent description is not intended to limit the present disclosure(s)to those exemplary embodiments of the present disclosure. On the otherhand, the present disclosure(s) is/are intended to cover not only theexemplary embodiments of the present disclosure, but also variousalternatives, modifications, equivalents and other embodiments, whichmay be included within the spirit and scope of the present disclosure asdefined by the appended claims.

Like numerals refer to like elements throughout the specification. Notall elements of embodiments of the present disclosure will be described,and description of what are commonly known in the art or what overlapeach other in the exemplary embodiments will be omitted. The terms asused throughout the specification, such as “˜ part”, “˜ module”, “˜member”, “˜ block”, etc., may be implemented in software and/orhardware, and a plurality of “˜ parts”, “˜ modules”, “˜ members”, or “˜blocks” may be implemented in a single element, or a single “˜ part”, “˜module”, “˜ member”, or “˜ block” may include a plurality of elements.

It will be further understood that the term “connect” or its derivativesrefer both to direct and indirect connection, and the indirectconnection includes a connection over a wireless communication network.

It will be further understood that the terms “comprises” and/or“comprising,” when used in the present specification, specify thepresence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof, unless the context clearly indicatesotherwise.

Although the terms “first,” “second,” “A,” “B,” etc. may be used todescribe various components, the terms do not limit the correspondingcomponents, but are used only for distinguishing one component fromanother component.

As used herein, the singular forms “a,” “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise.

Reference numerals used for method steps are just used for convenienceof explanation, but not to limit an order of the steps. Thus, unless thecontext clearly dictates otherwise, the written order may be practicedotherwise.

Hereinafter, the operating principles and embodiments of the presentdisclosure will be described with reference to the accompanyingdrawings.

FIG. 1 is a diagram illustrating an example of a vehicle body accordingto an exemplary embodiment of the present disclosure.

A vehicle 1 includes a body including an interior and an exterior, and achassis which is a portion of the vehicle 1 except for the body, inwhich mechanical devices required for traveling are provided.

The exterior of the body includes a front panel 111, a bonnet 112, aroof panel 113, a rear panel 114, a plurality of doors 115 provided toopen or close the indoor space, and window glasses (referred to aswindows) provided on the plurality of doors 115 to be openable orclosable.

The vehicle 1 may include a front windshield glass 116 provided on thefront side of the vehicle 1 and a rear windshield glass 117 provided onthe rear side of the vehicle 1.

The vehicle 1 may include a side mirror 118 which is provided on thedoor 115 on the front side of the vehicle 1 for the driver to secure arear view of the vehicle 1 and a left/right side and rear view of thevehicle 1,

The vehicle 1 includes a tailgate 119 for opening and closing a trunkthat forms a space for storing luggage, and a lamp for facilitating easyviewing of information related to a surrounding of the vehicle 1 whilekeeping an eye on the front, and performing signaling and communicationfunctions to other vehicles and pedestrians.

The vehicle 1 may include an image acquirer 120 for obtaining an imageof the surroundings.

The image acquirer 120 may include one or two or more cameras.

Each of the cameras may include a plurality of lenses and an imagesensor. The image sensor may include a plurality of photodiodes forconverting light into electrical signals, and the plurality ofphotodiodes may be arranged in a two-dimensional matrix.

The camera may include a charge-coupled device (CCD) or a complementarymetal-oxide semiconductor (CMOS) image sensor, and may include a 3Dspatial recognition sensor, such as a KINECT (RGB-D sensor), a TOF(Structured Light Sensor), or a stereo camera.

In an exemplary embodiment of the present disclosure, the image acquirer120 may include a plurality of cameras 121, 122, and 123 including afirst camera 121, a second camera 122 and a third camera 123 that havefields of view respectively directed to the front, left and right sides,and rear of the vehicle 1.

The first camera 121 may obtain a road image corresponding to the frontarea of the vehicle 1. In the instant case, the first camera 121 may beprovided on the front windshield glass 116 or on the front panel 111.

The first camera 121 may be provided on a rear view mirror inside thevehicle 1 or may be provided on a roof panel to be exposed to, the, theoutside thereof, and may be provided on a grille of the front side ofthe vehicle 1 or an emblem of the front side of the vehicle. The fieldof view of the first camera 121 provided on the roof panel 113 may bethe front of the vehicle 1.

The second camera 122 may obtain a road image corresponding to the reararea of the vehicle 1. In the instant case, the second camera 122 may beprovided on the rear windshield glass 117 to have a field of view whichis directed to the outside of the vehicle 1, and may be provided on therear panel 114 or on the tail gate 119.

The second camera 122 may be provided on a license plate on the rearside of the vehicle 1, an emblem on the rear side of the vehicle 1 orthe roof panel 113 to be exposed to the outside. The field of view ofthe second camera 122 provided on the roof panel 133 may be the rear ofthe vehicle 1.

The third camera 123 may obtain a road image corresponding to the leftside area of the vehicle 1. In the instant case, the third camera 123may be provided on the side mirror 118 on the left side of the vehicle1.

The fourth camera (124, in FIG. 2 ) may obtain a road imagecorresponding to the right side area of the vehicle 1. In the instantcase, the fourth camera 124 may be provided on the side mirror 118 onthe right side of the vehicle 1.

The image acquirer 120 may be a rotatable camera, and may be provided onthe roof panel 113.

The vehicle 1 may further include a distance detector 130 for detectingthe presence of an obstacle and a distance to the obstacle.

The distance detector 130 may be provided on the front panel 111 and therear panel 114.

The distance detector 130 may include one or more Light Detection andRanging (LiDAR) sensors.

The LiDAR sensor is a non-contact distance detection sensor using thelaser radar principle.

The LiDAR sensor has a higher accuracy in lateral direction detectionswhen compared to a radio detecting and ranging (RaDAR) sensor.

The distance detector 130 may include one or more radar sensors. Theradar sensor is a sensor configured to detect the position and distanceof an object using reflected waves generated by emission of radio waveswhen transmission and reception are performed in the same place.

The distance detector 130 may include one or more ultrasonic sensors.

The ultrasonic sensor generates ultrasonic waves for a predeterminedtime period, and detects a signal, which is reflected by an object andthen returns.

The ultrasonic sensor may be used to determine the presence or absenceof an obstacle, such as a pedestrian, in a short range.

The interior of the body includes a seat on which an occupant sits, adashboard, a center fascia in which a vent and a control panel of an airconditioner are disposed, a head unit provided on the center fascia andconfigured to receive operation commands of the audio device, theresistive wire of the seat, and the air conditioner, and a clusterdisposed on the dashboard and guiding travel functions and vehicleinformation, such as vehicle speed, engine revolutions per minute (RPM),fuel amount, coolant, and the like.

The chassis of the vehicle 1 is a frame that supports the body, and thechassis may include a power device, a braking device, and a steeringdevice for applying a driving force, a braking force, and a steeringforce to wheels disposed at front left, front right, rear left and rearright wheels, and may further include a suspension device, atransmission device, and the like.

FIG. 2 is a diagram illustrating an example of recognition areas of animage acquirer and a distance detector of a vehicle according to anexemplary embodiment of the present disclosure, and FIG. 3 is a diagramillustrating channels of a front radar sensor provided in a vehicleaccording to an exemplary embodiment of the present disclosure.

The vehicle 1 includes the image acquirer 120 for securing fields ofview respectively directed to the front, left and right sides, and rearof the vehicle 1, and the distance detector 130 for detecting obstacleson the front, left and right sides, and rear of the vehicle 1, anddetecting the distances to the detected obstacles.

The first camera 121 of the image acquirer 120 may obtain an imagewithin a recognition area C1 corresponding to a field of view directedto the front of the vehicle 1.

The second camera 122 of the image acquirer 120 may obtain an imagewithin a recognition area C₂ corresponding to a field of view directedto the rear of the vehicle 1.

The third camera 123 of the image acquirer 120 may obtain an imagewithin a recognition area C3 corresponding to a field of view directedto the left side of the vehicle 1, and the fourth camera 124 may obtainan image within a recognition area C4 corresponding to a field of viewdirected to the right side of the vehicle 1.

Each of the cameras of the image acquirer 120 may photograph thesurroundings of the vehicle 1 and obtain image data of the surroundingsof the vehicle 1. The image data of the surroundings of the vehicle 1may include position information and shape information related to atleast one of another vehicle, a pedestrian, a motorcycle (an autobicycle), a cyclist, a lane line, a curb, a guard rail, a street treeand a street light located around the vehicle 1.

The distance detector 130 may include a front radar sensor 131 and aplurality of corner radar sensors 132.

The front radar sensor 131 has a field of sensing directed to the frontof the vehicle 1 and detects an obstacle in a recognition area R1corresponding to the field of sensing.

The plurality of corner radar sensors (132: 132 a, 132 b, 132 c, and 132d) include a first corner radar sensor 132 a provided on the front rightside of the vehicle 1, a second corner radar sensor 132 b provided onthe front left side of the vehicle 1, a third corner radar sensor 132 cprovided on the rear right side of the vehicle 1, and a fourth cornerradar sensor 132 d provided on the rear left side of the vehicle 1.

The first corner radar sensor 132 a may have a field of detectingdirected to the front right side of the vehicle 1 and detect an obstaclein a recognition area R2 corresponding to the field of detecting.

The second corner radar sensor 132 b may have a field of detectingdirected to the front left side of the vehicle 1 and detect an obstaclein a recognition area R3 corresponding to the field of detecting.

The third corner radar sensor 132 c may have a field of detectingdirected to the rear right side of the vehicle 1 and detect an obstaclein a recognition area R4 corresponding to the field of detecting.

The fourth corner radar sensor 132 d may have a field of detectingdirected to the rear left side of the vehicle 1 and detect an obstaclein a recognition area R5 corresponding to the field of detecting.

Each of the front radar sensor 131 and the plurality of corner radarsensors 132 may include a transmission antenna (or a transmissionantenna array) that radiates transmission radio waves to a correspondingone of the front, rear, and left/right sides of the vehicle 1 and areception antenna (or a reception antenna array) that receivesreflection radio waves reflected from an object.

Each radar sensor may obtain radar data in a corresponding one of front,rear, and left/right directions from the transmission radio wavestransmitted by the transmission antenna and the reflection radio wavesreceived by the reception antenna.

Each radar data in the front, rear, and left/right directions mayinclude position information and velocity information regarding abicycle, another vehicle, a pedestrian, or a cyclist located present inthe corresponding direction of the vehicle 1.

Each of the radar sensors may determine the relative distance to theobstacle based on the phase difference (or time difference) between thetransmission radio waves and the reflection radio waves, and determinethe relative velocity of the obstacle based on the frequency differencebetween the transmission radio waves and the reflected radio waves.

Here, the front radar sensor may include a long-range radar sensor (LRR)that detects an obstacle in a recognition area of 80 to 200 m or more.

The corner radar sensor may include a short-range radar sensor (SRR)that detects an obstacle in a recognition area of 0.2 to 30 m or amedium-range radar sensor (MRR) that detects an obstacle in arecognition area of 30 to 80 m.

The distance detector 130 may further include a Light Detection andRanging (LiDAR) sensor.

The LiDAR sensor has a field of detecting directed to the front of thevehicle 1 and detects an obstacle in a recognition area L1 correspondingto the field of detecting.

The LiDAR sensor is configured to detect information using a high-powerpulse laser with strong straightness, and thus obtains more preciseposition information compared to radar.

The LiDAR sensor may detect an obstacle in a recognition area L1 of upto 200 m.

The LiDAR sensor may separately recognize distance information of theobstacle and shape information of the obstacle through accurateinformation related to the obstacle. That is, the LiDAR sensor maydetect obstacle information as 3D information.

Each of the camera, the radar sensor, the LiDAR sensor, and theultrasonic sensor may have a plurality of tracks facing differentdirections. That is, the recognition area of each of the camera, theradar sensor, the LiDAR sensor, and the ultrasonic sensor may be dividedinto a plurality of tracks.

For example, angles of a plurality of channels of a recognition area C₁of the first camera may be the same as each other, and angles of aplurality of channels of a recognition area C₂ of the second camera maybe the same as each other. In addition, the angles of the channels ofthe first camera and the channels of the second camera may be the sameas or different from each other.

Referring to FIG. 3 , the front radar sensor 131 may have a lateralangular resolution less than or equal to 5 degrees and detect theposition of an obstacle present at a distance of 200 m or more throughreception channels of eight tracks. Here, the lateral direction may be adirection perpendicular to the moving direction of the vehicle 1.

For example, a first channel T1 of the front radar sensor 131 may detectan obstacle present between 0 degrees and 5 degrees, and receive adetection signal through the first channel, a second channel T2 maydetect an obstacle present between 5 and 10 degrees, and receive adetection signal through the second channel, and a third channel T3 maydetect an obstacle between 10 and 15 degrees, and receive a detectionsignal through the third channel. Descriptions of the fourth to eighthchannels will be omitted.

That is, the front radar sensor 131 transmits and receives signalsthrough eight channels, in which signals are sequentially transmittedand received based on a preset order, and based on the received signals,an object present in a detection direction corresponding to each of thechannels and the direction and distance of the obstacle are detectedbased on the signal received through each channel.

FIG. 4 is a control block diagram illustrating a vehicle according to anexemplary embodiment of the present disclosure.

The vehicle 1 includes a velocity detector 101, an image acquirer 120, adistance detector 130, a user interface 140, a sound outputter 143, anelectronic control unit (ECU, 150), a power device 151, a braking device152, a steering device 153, and an advanced driver assistance system(ADAS) 160.

The velocity detector 101 detects the traveling velocity of the vehicle1 and transmits velocity information related to the detected travelingvelocity to the processor 162.

The velocity detector 101 includes a plurality of wheel velocity sensorsthat output detection information (i.e., wheel velocity information)corresponding to the rotational velocities of the wheels provided onfront, rear, left and right wheels of the vehicle 1.

The velocity detector 101 may include an acceleration sensor thatoutputs detection information (i.e., acceleration information)corresponding to the acceleration of the vehicle 1.

The velocity detector 101 may include both the plurality of wheelvelocity sensors and the acceleration sensor.

The image acquirer 120 may include one or two or more cameras.

The image acquirer 120 is implemented to detect information related toan object of surroundings of the vehicle 1 and converts the informationinto an electrical image signal, and may detect object information onthe front, left and right sides of the host vehicle, and transmit animage signal of the detected object information to the processor 162.

The distance detector 130 may include a first distance detector 130 aincluding one or more radar sensors.

The distance detector 130 may further include a second distance detector130 b including one or more LiDAR sensors.

The distance detector 130 may further include a third distance detector130 c including one or more ultrasonic sensors.

The image acquirer 120, the first distance detector 130 a, the seconddistance detector 130 b, and the third distance detector 130 c havealready been described with reference to FIG. 2 , and thus detailsthereof will be omitted from description of control configuration of thevehicle 1.

The user interface 140 may receive a user input and display an imagecorresponding to the user input.

The user interface 140 displays information related to at least one ofan audio mode, a video mode, a navigation mode, a digital audiobroadcasting (DMB) mode, and a radio mode.

The user interface 150 may display autonomous driving controlinformation in an autonomous driving mode and may also display images ofthe surrounding of the vehicle 1 in an autonomous driving mode.

The user interface 140 may, in a map display mode, display a map imagewithin a certain range from the current location of the vehicle 1, andin a navigation mode, display map information, to which routeinformation from the current location to the destination is matched, androad guidance information.

The user interface 140 may display an image obtained by at least onecamera among the cameras of the image acquirer 120.

The user interface 140 may include a display 142, and may furtherinclude an inputter 141.

When the user interface 140 includes both the inputter 142 and thedisplay 141, the user interface 140 may be provided as a touch screen inwhich the inputter 141 and the display 142 are integrally formed witheach other.

When the user interface 140 includes only the display, the inputter maybe provided on the head unit or center fascia of the vehicle 1, and maybe provided as at least one of a button, a switch, a key, a touch panel,a jog dial, a pedal, a keyboard, a mouse, a track ball, various levers,a handle, or a stick.

The inputter 141 of the user interface 140 receives an operation commandof a navigation mode, and receives destination information related to adestination when the navigation mode is performed.

The inputter 141 may receive selection information related to one of aplurality of routes found from the current location to the destination.

The inputter 141 receives one of a manual driving mode in which thedriver directly drives the vehicle 1 or an autonomous driving mode inwhich the vehicle 1 autonomously travels, and transmits the input signalto the processor 162.

The inputter 141 may, in the autonomous travelling mode, receivedestination information and may also receive a target travellingvelocity.

The inputter 141 may also receive an ON/OFF command of a collisionwarning mode.

The display 142 displays information related to a function beingperformed in the vehicle 1 and information input by the user.

The display 142 displays the travelling mode of the vehicle 1.

The display 142 displays a route to a destination and a map, to whichthe route is matched, when the navigation mode is performed.

The display 142 may, in an autonomous travelling mode, display an imageof the surroundings, and may display the relative position of anobstacle together with an emoticon of the vehicle 1.

The display 142 displays notification information related to thecollision warning mode.

The vehicle 1 may further include a cluster for displaying thenotification information related to the collision warning mode.

The sound outputter 143 may output a sound for a function beingperformed in the vehicle 1.

The sound outputter 143 may output a sound in response to a controlcommand of the processor 162, and may output the sound with a sound typeand volume size corresponding to the control command of the processor162.

The sound outputter 143 outputs notification information related to thecollision warning mode.

For example, the sound outputter 143 may output notification informationrelated to an obstacle present in front of the vehicle 1 as a sound whenthe vehicle is in a travelling state. The sound outputter 123 may outputwarning information regarding the possibility of collision with anobstacle as a sound when the vehicle is in a travelling state.

The sound outputter 143 may include one or more speakers, and mayinclude a Klaxon.

The vehicle 1 includes a driving device and an electronic control unit(ECU) 150 that is configured to control driving of various safetydevices and various detection devices.

Here, the ECU 150 may be provided in a plurality of units thereof forthe respective electronic devices, or may be provided as a single unitto control the plurality of electronic devices integrally.

The power device 151 may be a device that generates a driving force forthe vehicle. In the case of an internal combustion engine vehicle, thepower device 151 may include an engine and an engine control unit. Inthe case of an eco-friendly vehicle, the power device may include amotor, a battery and a motor control unit, and a battery managementdevice.

In the case of an internal combustion engine vehicle, the power devicemay control the engine in response to the driver's intention toaccelerate via an accelerator pedal. For example, the engine controlunit may control the torque of the engine.

The braking device 152 may be a device that generates a braking force inthe vehicle 1.

The braking device 152 may decelerate the vehicle 1 or stop the vehicle1 through friction with the wheels.

The braking device 152 may include an electronic brake control unit. Theelectronic brake control unit may, in response to a braking intention ofthe driver through a braking pedal and/or a slip of the wheels, controlthe braking force. For example, the electronic brake control unit maytemporarily deactivate the braking of the wheels in response to a slipof the wheels detected at a time of braking of the vehicle 1 (anti-lockbraking systems: ABS).

The electronic brake control unit may selectively deactivate braking ofthe wheels in response to over-steering and/or under-steering detectedat a time of steering of the vehicle 1 (electronic stability control:ESC)

Furthermore, the electronic brake control unit may temporarily brake thewheels in response to a slip of the wheels detected at a time of drivingof the vehicle 1 (traction control system: TCS).

The braking device 152 may also perform braking or deceleration inresponse to a control command of the processor 162.

The steering device 152 may be a device configured for changing theheading direction of the vehicle 1.

The steering device 153 may change the heading direction in response toa steering intention of a driver through the steering wheel. Thesteering device 153 may include an electronic steering control unit, andthe electronic steering control unit may decrease the steering forcewhen travelling at a low velocity or parking, and increase the steeringforce when travelling at a high velocity.

The steering device 153 may change the heading direction in response toa control command of the processor 162.

The ADAS 160 may perform an autonomous driving mode that enablesautonomous driving from the current position to the destination based oncurrent position information of the vehicle 1, map information, anddestination information, and may perform an autonomous parking mode thatenables autonomous parking upon arrival at the destination ortemporarily parking.

The ADAS 160 may determine the possibility of collision with a nearbyobstacle and output warning information corresponding to the possibilityof collision.

The ADAS 160 may include a communicator 161, a processor 162, and amemory 163. Here, the processor 162 may be a processor provided in thevehicle.

The communicator 161 also performs communication between devices insidethe vehicle.

The communicator 161 may perform controller area network (CAN)communication, universal serial bus (USB) communication, Wi-Ficommunication, and Bluetooth communication, and may further perform abroadcasting communication module, such as Transport Protocol ExpertGroup (TPEG), Sign-extension mode (SXM), or radio data system (RDS) ofDMB, and 2G, 3G, 4G and 5G communication.

The communicator 161 may include one or more components that enablecommunication with an external device, and may include, for example, atleast one of a short-range communication module, a wired communicationmodule, and a wireless communication module. Here, the external devicemay be a terminal or a server.

The short-range communication module may include various short-rangecommunication modules that transmit and receive signals using a wirelesscommunication network in a short range, such as a Bluetooth module, aninfrared communication module, a radio frequency identification (RFID)communication module, a wireless local access network (WLAN)communication module, an NFC communication module, and a zigbeecommunication module.

The wired communication module may include various wired communicationmodules, such as a controller area network (CAN) communication module, alocal area network (LAN) module, a wide area network (WAN) module, or avalue added network communication (VAN) module, and various cablecommunication modules, such as a universal serial bus (USB) module, ahigh definition multimedia interface (HDMI) module a digital visualinterface (DVI) module, a recommended standard-232 (RS-232) module, apower line communication module, or a plain old telephone service (POTS)module.

The wireless communication module may include wireless communicationmodules supporting various wireless communication methods, such as aWiFi module, a wireless broadband module (Wibro) module, a global systemfor mobile communication (GSM) module, a code division multiple access(CDMA) module, a wideband code division multiple access (WCDMA) module,a universal mobile telecommunications system (UMTS) module, a timedivision a plurality of access (TDMA) module, a long term evolution(LTE) module, and the like.

The communicator 161 includes a Global Positioning System (GPS) receiver(or a location receiver) that communicates with a plurality ofsatellites and recognizes a current location based on informationprovided from the plurality of satellites.

That is, the location receiver recognizes the current location of thevehicle 1 by receiving signals sent by artificial satellites, andtransmits current position information on the recognized currentlocation to the processor 162.

The processor 162 may, based on a manual driving mode being input,control travelling based on manipulation information such as a brakepedal, an accelerator pedal, a shift lever, and a steering wheel.

The processor 162 may, based on a navigation mode being selected,identify the current position information received by the locationreceiver and control the display 142 to display a map within apredetermined range of the current location based on the identifiedcurrent position information.

The processor 162 may, based on destination information being inputafter the navigation mode is selected, search for a route from thecurrent position to the destination based on the input destinationinformation and the current position information received by thelocation receiver, and control the display 142 to display a map to whichthe found route is matched.

The processor 162 identifies the current location during travel in realtime, and allows the identified current location to be displayed on themap on the display in real time while allowing route guidanceinformation to be output through the display 142 and the sound outputter143.

The processor 162 may, in response to an on-command of an autonomousdriving mode, allow the vehicle 1 to recognize a road environment of thevehicle itself, determine a travelling situation, and control travel ofthe vehicle 1 according to a planned route to thereby autonomouslycontrol of the vehicle 1 to the destination.

The processor 162 may, in response to image information of a road beingreceived from the image acquirer 120 during the autonomous driving mode,perform image processing to recognize lane lines of the road, recognizea lane, in which the host vehicle 1 is travelling, based on therecognized position information of the recognized lane lines, generate atracking line based on information related to the recognized lane,generate a travelling route based on the position of the generatedtracking line, and control autonomous driving according to the generatedtravelling route.

The tracking line is a line for allowing the center portion of the bodyof the vehicle 1 to follow one position on the lane. Here, the oneposition on the lane may represent the position of one of two lane linesforming the lane, or the position in the middle between the two lanelines.

The processor 162 is configured to control acceleration and decelerationof the vehicle 1 for the vehicle 1 to travel at a preset targettravelling velocity or a travelling velocity input by a user during anautonomous travelling mode.

The processor 162 may obtain the travelling velocity of the vehicle 1based on detection information output from the plurality of wheel speedsensors.

The processor 162 may obtain the travelling velocity of the vehicle 1based on detection information output from the acceleration sensor.

The processor 162 may obtain the travelling velocity of the vehicle 1based on detection information output from the plurality of wheel speedsensors and detection information output from the acceleration sensor.

The processor 162 may also obtain the travelling velocity based onchange information of the current position information provided from thelocation receiver.

The processor 162 may recognize at least one of the position of theobstacle and the moving velocity of the obstacle based on the imageinformation of the image acquirer 120, the obstacle information of thefirst, second, and third distance detectors 130 a, 130 b, and 130 c, andthe traveling velocity information of the velocity detector 101, andcontrol the travelling velocity or avoidance traveling based on therecognized position of the obstacle and the recognized moving speed ofthe obstacle.

The position of the obstacle may include a relative direction of theobstacle with respect to the host vehicle 1 and the relative distance tothe obstacle. Obstacles may include bikes, street trees, traffic lights,crosswalks, pedestrians, cyclists, median strips, road signs, personalmobility, safety cones, and the like.

The processor 162 may determine a time to collision (TTC) between thevehicle 1 and front obstacles based on the position information(relative distance) and the velocity information (relative velocity) ofthe front objects, and based on a result of comparing the TTC with apredetermined reference time, warn the driver of a collision, transmit abraking signal to the braking device 152, or transmit a steering signalto the steering device 153.

The processor 162 may determine a distance to collision (DTC) based onthe velocity information (relative velocity) of front objects, and basedon a result of comparing the DTC with distances to the front objects,warn the driver of a collision or transmit a braking signal to thebraking device 152.

The processor 162 may, upon determining that there is a possibility ofcollision with an obstacle during travel, control output of warninginformation regarding the possibility of collision, and may control thesound outputter 143 to output a sound.

The processor 162 may, during an autonomous driving mode, process frontimage information of the camera 121, front radar data of the front radar131, and corner radar data of the plurality of corner radars 132 and maygenerate a baking signal and a steering signal for controlling thebraking device 152 and the steering device 153 and may generate a powersignal for controlling the power device 151.

For example, the processor 162 may recognize obstacles in front of thevehicle 1 based on the front image data of the first camera 121 and thefront radar data of the front radar 131, and may obtain positioninformation (direction) and type information (e.g., whether the obstacleis another vehicle, a pedestrian, a cyclist, a cub, a guard rail, aroadside tree, a street lamp, or the like) of the recognized obstacles.

The processor 162 may match the obstacles detected by the front imagedata with the obstacles detected by the front radar data, obtain thetype information, the position information, and the velocity informationof the obstacles in front of the vehicle 1 based on a result of thematching, and generate a braking signal and a steering signal based onthe type information, the position information, and the velocityinformation of the front obstacles.

The processor 162 may perform sensor fusion on data of at least onecamera, at least one radar sensor, at least one LiDAR sensor, and atleast one ultrasonic sensor.

Sensor fusion is a process of combining inputs of several differentdevices, such as radar sensors, LiDAR sensors, ultrasonic sensors, andcameras, to form a single model or image of a surrounding environment ofthe vehicle.

As shown in FIG. 2 , the recognition area of the radar sensor, therecognition area of the LiDAR sensor, the recognition area of theultrasonic sensor, and the recognition area of the camera may partiallyoverlap each other. Accordingly, a same obstacle may be detected throughat least two of the radar sensor, the LiDAR sensor, the ultrasonicsensor, and the camera.

Accordingly, the processor 162 may allow a same obstacle among obstaclesdetected in at least two recognition areas to be recognized throughsensor fusion. This is referred to as a fusion track. Here, the at leasttwo recognition areas may represent recognition areas including anoverlapping recognition area therebetween.

The processor 162 may determine whether the number of fusion tracks andthe number of single tracks are the same, and upon determining that thenumber of fusion tracks and the number of single tracks are the same,control the travelling velocity or avoidance travelling based on thelocation information and velocity information of the obstacle detectedby the distance detector. Here, the single track may be a trackrecognized by the first camera or a track recognized by each distancedetector.

The processor 162 may determine whether two or more obstacles areobstacles traveling in a cluster-traveling on the same route, and upondetermining that the two or more obstacles in a cluster traveling on thesame route, control at least one of braking and steering based onposition information of the obstacles in a cluster travelling.

The processor 162 determines whether the number of fusion tracks and thenumber of single tracks are the same, and upon determining that thenumber of fusion tracks and the number of single tracks are different,recognizes an obstacle based on presence/absence of a fusion track,movement information of the fusion track, and movement information ofthe single track, determines a risk of collision with the recognizedobstacle, and is configured to control collision avoidance in responseto the determined risk of collision.

The processor 162 may, based on the presence/absence of the fusiontrack, movement information of the fusion track, and movementinformation of the single track, obtains a gate size and recognizes aclustering obstacle based on the obtained gate size, obtains a clusterarea for the recognized clustering obstacle, determines the validity ofthe obtained cluster area, determine a risk of collision with thevehicle, and control collision avoidance in response to the determinedvalidity of the cluster area and the risk of collision.

Here, the fusion track and the single track may represent obstaclesforming a cluster.

Determining of the validity of the cluster area is determining whetherthe cluster area is an area formed by the obstacles forming a cluster.

Such a configuration enables fusion tracks to be generated for all ofthe plurality of obstacles, improving the control accuracy for collisionprevention and collision avoidance.

By obtaining a cluster area that reflects dynamic characteristics of avehicle and obstacles, obstacles may be recognized in response tovarious cluster travelling situations.

This will be described in more detail with reference to FIG. 5 , FIG. 6, FIG. 7 , FIG. 8 , FIG. 9 , FIG. 10 and FIG. 11 .

FIG. 5 and FIG. 6 are diagrams illustrating generation of a gate areawhen there is a fusion track among tracks recognized through a vehicleaccording to an exemplary embodiment of the present disclosure. FIG. 7is a diagram illustrating an example of obtaining a cluster area whenthere is a fusion track among tracks recognized through a vehicleaccording to an exemplary embodiment of the present disclosure.

FIG. 8 is a diagram illustrating generation of a gate area when there isno fusion track among tracks recognized through a vehicle according toan exemplary embodiment of the present disclosure, and FIG. 9 is adiagram illustrating an example of obtaining a cluster area when thereis no fusion track among tracks recognized through a vehicle accordingto an exemplary embodiment of the present disclosure.

FIG. 10A, FIG. 10B, and FIG. 10C are diagrams illustrating an example ofvalidity determination of tracks recognized through a vehicle accordingto an exemplary embodiment of the present disclosure, and FIG. 11 is adiagram illustrating an example of determination of a collision with acluster area obtained through a vehicle according to an exemplaryembodiment of the present disclosure.

First, the following description will be made with reference to FIG. 5 .

The processor 162, based on an obstacle being detected by the imageacquirer 120 and the distance detector 130, determines whether there isa fusion track, and upon determining that there is a fusion track,obtains movement information of the fusion track and determines whetherthe fusion track is in a stationary state or in a moving state based onthe obtained movement information of the fusion track.

Herein, the obtained movement information of the fusion track mayinclude longitudinal velocity information and lateral velocityinformation of the fusion track.

The processor 162, upon determining that the fusion track is in thestationary state, identifies reference position information O₀ of thefusion track and first reference gate size information W0, L₀, andgenerates a gate area G based on the reference position information O₀of the fusion track and the first reference gate size.

The first reference gate size information is preset information, and mayinclude gate size information L₀ in a first direction and gate sizeinformation W₀ in a second direction thereof.

Here, the first direction may be a longitudinal direction, and thesecond direction may be a lateral direction thereof.

The processor 162 identifies one or more single tracks present in thegenerated gate area, recognizes a single track in a stationary stateamong the identified one or more single tracks, and obtains positioninformation C₁ of the recognized single track.

The processor 162 may obtain the relative velocity information of eachof the single tracks based on the travelling velocity information of thevehicle and the moving velocity information of the single tracks, andrecognize the single track in a stationary state based on the obtainedrelative velocity information of each of the single tracks.

For example, the processor 162 may recognize a single track C_(n)present within a distance of 0.5×L₀ or less in the first direction(i.e., the longitudinal) from the reference position O₀ of the fusiontrack and 0.5×W₀ or less in the second direction (i.e., the lateraldirection) from the reference position O₀ of the fusion track.

The recognized single track C_(n) is a track that moves on the sameroute as the fusion track in a stationary state, and may be a singletrack forming a cluster with the fusion track in a stationary state.

Y _(0n)≤0.5×L ₀ , X _(0n)≤0.5×W ₀

-   -   C_(n): the n^(th) single track    -   X_(0n): the relative longitudinal position from the reference        position of the fusion track to the n^(th) single track    -   Y_(0n): the relative lateral position from the reference        position of the fusion track to the n^(th) single track

Next, the following description will be made with reference to FIG. 6 .

The processor 162, upon determining that there is a fusion track in amoving state, identifies movement information and reference positioninformation of the fusion track in a moving state, obtains gate sizeinformation corresponding to the movement information of the fusiontrack, and generates a gate area based on the obtained gate sizeinformation and the reference position information.

The processor 162 may, when generating the gate area, obtain movementinformation in the first direction among the movement information of thefusion track in a moving state, obtain first gate size informationcorresponding to the movement information in the first direction, andgenerate a first gate area G₁ based on the obtained first gate sizeinformation and the reference position information, and also may obtainmovement information in the second direction among the movementinformation of the fusion track in a moving state, obtain second gatesize information corresponding to the movement information in the seconddirection, and generate a second gate area G₂ based on the second gatesize information and the reference position information.

Here, the first gate size information corresponding to the movementinformation in the first direction and the second gate size informationcorresponding to the movement information in the second direction aredetermined by the ratio of the velocity in the first direction to thevelocity in the second direction thereof.

Index K=|LongVel0/LatVel0|

-   -   LongVel0: the longitudinal velocity of the fusion track    -   LatVel0: the lateral velocity of the fusion track

The first gate area is an area for when the longitudinal velocitycharacteristic of the fusion track is great, and the second gate area isan area for when the lateral velocity characteristic of the fusion trackis great.

The processor 162 identifies one or more single tracks present in thefirst gate area G₁ and recognizes a single track in a moving state amongthe identified one or more single tracks.

The processor 162 identifies one or more single tracks present in thesecond gate area G₂ and recognizes a single track in a moving stateamong the identified one or more single tracks.

For example, the processor 162 may recognize a single track C_(n)present within a distance of 0.5×L or less in the first direction (i.e.,the longitudinal) from the reference position O₀ of the fusion track and0.5×W or less in the second direction (i.e., the lateral direction) fromthe reference position O₀ of the fusion track.

Y _(0n)≤0.5×L, X _(0n)≤0.5×W

L=min(L0+Ka1,b1L0), W=min(W0+Ka2,b2W0)

-   -   a1, a2, b1, b2: tuning parameters    -   C_(n): the n^(th) single track    -   X_(0n): the relative longitudinal position from the reference        position of the fusion track to the n^(th) single track    -   Y_(0n): the relative lateral position from the reference        position of the fusion track to the n^(th) single track

The processor 162 identifies the movement velocity information of eachof the identified one or more single tracks, and based on the movingvelocity information of each of the single tracks and the movingvelocity information of the fusion track in a moving state, recognizesat least one single track, of which the velocity difference with thefusion track is less than or equal to a reference velocity difference,and obtains position information of the recognized at least one singletrack.

Here, the recognized at least one single track is a track that movesalong the same route as the fusion track in a moving state, and may be asingle track forming a cluster with the fusion track in a moving state.

The processor may, upon determining that the fusion track is in a movingstate, compare the moving velocity information (i.e., the velocity inthe first direction) of single tracks in a moving state located withinthe first gate area with the velocity in the first direction of thefusion track, and recognize a first single track of which the velocitydifference with the fusion track is less than or equal to a firstreference velocity.

The processor may, upon determining that the fusion track is in a movingstate, compare the moving velocity information (i.e., the velocity inthe second direction) of the single tracks in a moving state locatedwithin the second gate area with the velocity in the second direction ofthe fusion track, and recognize a second single track of which thevelocity difference with the fusion track is less than or equal to asecond reference velocity.

|LongVel0−LongVeln|<=the first reference velocity

|LatVel0−LatVeln|<=the second reference velocity

-   -   LongVeln: the longitudinal velocity of the n^(th) single track    -   LatVeln: the lateral velocity of the n^(th) single track

For example, the processor 162 may obtain position information X₀₂, Y₀₂of a single track C₂ in a moving state located in the first gate areaG₁, and position information X₀₁, Y₀₁ of a single track C₁ in a movingstate located in the second gate area G₂.

The processor 162 generates a gate area of the fusion track and a gatearea of at least one single track, identifies position information ofeach of the corners of the gate areas, obtain position information ofcorners of two neighbor gate areas from the position information of thecorners of the gate areas, and based on the position information of thecorners of the two neighbor gate areas, generate lines connecting thecorners of the two neighbor gate areas.

Here, corners of two neighbor gate areas among corners of different gateareas may represent corners at both end portions of one edge portionamong edge portions of the different gate areas and the other edgeportion opposite to the one edge portion.

The processor 162 may identify the gate area of the fusion track and thegate area of the single track adjacent to the gate area of the fusiontrack, and generate lines that connect corners of the gate area of thefusion track and corners of the gate area of the single track adjacentto the corners of the gate area of the fusion track.

The processor 162 may obtain the gate area of the fusion track and thegate area of the single track as one cluster area using the lines.

Referring to FIG. 7 , when a first gate area G₁, a second gate area G₂,and a third gate area G₃ are present, the processor 162 generates afirst line L1 connecting a first corner FL₀ of a first gate area G₁ to afirst corner FR₁ of a second gate area G₂, and generates a second lineL₂ connecting a second corner RL₀ of the first gate area G₁ to a secondcorner RR₁ of the second gate area G₂.

Furthermore, the processor 162 generates a third line L₃ connecting thesecond corner RL₀ of the first gate area G₁ to a first corner FL₂ of athird gate area G₃, and generate a fourth line L₄ connecting a thirdcorner RR₀ of the first gate area G₁ to a second corner FR₂ of the thirdgate area G₃.

The processor 162 may use the first, second, third, and fourth lines asboundaries between the plurality of gate areas to obtain the gate areaof the fusion track and the gate areas of the first and second singletracks as one cluster area.

The processor 162 may, when the position of a front right corner (FR₀,the first corner) of the second gate area G₂ of the first single trackis farther from the center portion of the body of the vehicle 1 than theposition of a front left corner (FL₀, the first corner) of the firstgate area G₁ of the fusion track is, generate a first line L₁ and asecond line L₂ outside of the front left corner (FL₀, the first corner)of the first gate area G₁ of the fusion track.

The processor 162 may generate, when the position of a front rightcorner (FR₂, the second corner) of the third gate area G₃ of the secondsingle track is same as the center portion of the body of the vehicle 1or closer to the center portion of the body of the vehicle 1 than theposition of a front left corner (FL₀, the first corner) of the firstgate area G₁ of the fusion track is, generate a third line L₃ and afourth line L₄ inside of the front left corner (FL₀, the first corner)of the first gate area G₁ of the fusion track.

The processor 162 may obtain area information related to the clusterarea. This will be referred to as an example below.

L ₁ : y=(Y _(FL0)_Y _(FR1) /X _(FL0)_X _(FR1))×(x−X _(FL0))+Y _(FL0)

L ₂ : y=(Y _(RL0)_Y _(RR1) /X _(RL0)_X _(RR1))×(x−X _(RL0))+Y _(RL0)

L ₃ : y=(Y _(RL0)_Y _(FL2) /X _(RL0)_X _(FL2))×(x−X _(RL0))+Y _(RL0)

L ₄ : y=(Y _(RR0)_Y _(FR2) /X _(RR0)_X _(FR2))×(x−X _(RR0))+Y _(RR0)

The processor 162 may, upon concluding that there is no fusion track,generate a gate area based on single tracks for obstacles detected bythe image acquirer and the plurality of distance detectors.

The processor 162 may obtain, as a reference single track, a singletrack for obstacle detected by a first camera among single tracks forobstacle detected by the image acquirer and the plurality of distancedetectors, determine whether the reference single track is in astationary state or a moving state based on movement information of thereference single track, and upon determining that the reference singletrack is a moving state, generate a first gate area G₁ based onreference position information and movement information of the referencesingle track in a moving state and preset second reference gate sizeinformation.

The processor 162 identifies the remaining single tracks present in thefirst gate area G₁ and recognizes a single track in a moving state amongthe identified remaining single tracks. Here, the remaining singletracks may be one or more single tracks.

For example, the processor 162 may recognize a single track CM1 presentwithin a distance of 0.5×L_(m) or less in the first direction (i.e., thelongitudinal) from the reference position of the reference single trackCM0 and 0.5×W_(m) or less in the second direction (i.e., the lateraldirection) from the reference position of the reference single trackCM0.

Y _(mn)≤0.5×L _(m) , X _(mn)≤0.5×W _(m)

L _(m)=min(L _(m) +Ka1,b1L _(m)), W _(m)=min(W _(m) +Ka2,b2W _(m))

-   -   a1, a2, b1, b2: tuning parameters    -   C_(mn): the n^(th) single track    -   X_(mn): the relative longitudinal position from the reference        position of the reference single track to the n^(th) single        track    -   Y_(mn): the relative lateral position from the reference        position of the reference single track to the n^(th) single        track

The processor 162 identifies the movement velocity information of eachof the identified one or more single tracks, and based on the movementvelocity information of each of the single tracks and the movementvelocity information of the reference single track in a moving state,recognizes at least one single track, of which the velocity differencewith the reference single track is less than or equal to a referencevelocity difference, and obtains position information of the recognizedat least one single track.

|LongVel_(n)−LongVel_(m)|<=the first reference velocity

|LatVel_(n)−LatVel_(m)|<=the second reference velocity

-   -   LongVel_(n): the longitudinal velocity of the n^(th) single        track    -   LatVel_(n): the lateral velocity of the n^(th) single track

The processor 162 may obtain position information of a single trackC_(m1) in a moving state present in the first gate area G₁ of thereference single track C_(m0).

The processor 162 may, upon determining that the reference single trackis in a stationary state, generate a second gate area G₂ of thereference single track Cs0 based on reference position information ofthe reference single track Cs0 and second reference gate sizeinformation.

The second reference gate size information is preset information, andmay include gate size information L_(s) in the first direction and gatesize information W_(s) in the second direction thereof. Here, the firstdirection may be a longitudinal direction, and the second direction maybe a lateral direction thereof.

The processor 162 identifies the remaining single tracks present in thegenerated gate area, and recognizes a single track in a stationary stateamong the identified remaining single tracks. Here, the remaining singletracks may be one or two or more single tracks.

The processor 162 obtains position information of the recognized singletrack.

The processor 162 may obtain the relative velocity information of eachof the single tracks based on the travelling velocity information of thevehicle and the moving velocity information of each of the singletracks, and may recognize a single track R_(s1) in a stationary statebased on the obtained relative velocity information of each of thesingle tracks.

For example, the processor 162 may recognize a single track C_(n)present within a distance of 0.5×L_(s) or less in the first direction(i.e., the longitudinal) from the reference position of the referencesingle track C_(s0) and 0.5×W_(s) or less in the second direction (i.e.,the lateral direction) from the reference position of the referencesingle track C_(s0).

Y _(sn)≤0.5×L _(s) , X _(sn)≤0.5×W _(s)

-   -   C_(sn): the n^(th) single track    -   X_(sn): the relative longitudinal position from the reference        position of the reference single track in a stationary state to        the n^(th) single track    -   Y_(sn): the relative lateral position from the reference        position of the reference single track in a stationary state to        the n^(th) single track

The processor 162 may identify position information of the corners ofthe first gate area of the reference single track, identify positioninformation of the corners of gate areas adjacent to the first gatearea, generate lines connecting corners of the first gate area andcorners of the gate areas adjacent to the corners of the first gate areabased on the position information of the corners of the first gate areaand the position information of the corners of the gate areas adjacentto the corners of the first gate area, and obtain a cluster areaincluding the generated lines as boundaries. This will be described withreference to FIG. 9 as an example.

The processor 162 may generate a different cluster area according towhether the reference single track is in a moving state or a stationarystate.

The processor 162 may identify the position information of the cornersof the first gate area G₁ of the reference single track C_(m0) in amoving state, the position information of the corners of the second gatearea G₂ of the first single track C_(m1) in a moving state, and theposition information of the corners of the third gate area G₃ of thesecond single track R_(m1) in a moving state, and generate linesconnecting the corners of the first gate area G₁ to the corners of thesecond gate area G₂ that are adjacent to the corners of the first gatearea G₁, and generate lines connecting the corners of the first gatearea G₁ to the corners of the third gate area G₃ that are adjacent tothe corners of the first gate area G₁, and may obtain a cluster areaincluding the generated lines as boundaries.

The processor 162 may identify the position information of the cornersof the fourth gate area G₄ of the reference single track C_(s0) in astationary state, the position information of the corners of the fifthgate area G₅ of the third single track R_(s1) in a stationary state, andthe position information of the corners of the sixth gate area G₆ of thefourth single track R_(s2) in a stationary state, generate linesconnecting the corners of the fourth gate area G₄ to the corners of thefifth area G₅ that are adjacent to the corners of the fourth gate areaG₄, and generate lines connecting the corners of the fourth gate area G₄to the corners of the sixth gate area G₆ that are adjacent to thecorners of the fourth gate area G₄, and obtain a cluster area includingthe generated lines as boundaries.

The processor 162 may obtain gradient information of the generated linesto obtain area information on the cluster region. This may be the sameas the configuration of obtaining gradient of the first, second, third,and fourth lines described in FIG. 7 .

The processor 162 may determine the validity of the obtained trackspresent in the cluster area and a risk of collision with the vehicle 1,and control at least one of braking and steering based on the validityof tracks in the cluster area and the risk of collision.

When determining the validity of the tracks present in the obtainedcluster area, the processor 162 determines whether there is a new trackin the cluster area every predetermined time period, determines whetherthere is a track to be removed from the cluster area every predeterminedtime period, and upon determining that there is no track to be newlyadded to the cluster area or no track to be removed from the clusterarea during a predetermined time period, determine the validity of thetracks in the obtained cluster area based on distance informationbetween the tracks.

The processor 162 may, upon determining that there is a track newlyadded to the cluster area, determine the newly added track as invalid,and upon determining that there is a track removed from the clusterarea, determine the removed track as invalid.

When there are a fusion track and single tracks in a cluster area, theprocessor 162 obtains distance information between the fusion track andeach of the single tracks in the cluster area, and determines thevalidity of each single track based on the distance information.

The processor 162 may, upon determining that the distance between thefusion track and each of the single tracks is less than a referencedistance in a predetermined time period, determine that the fusion trackand all of the single tracks in the cluster area are valid, and whenthere is a single track away from the fusion track at a distance greaterthan or equal to the reference distance in the predetermined timeperiod, determine that the single track is invalid.

Determining that a single track is invalid refers to determining thatthe single track is not an obstacle in cluster-travelling.

When there are a reference single track and at least one single track ina cluster area, the processor 162 obtains distance information betweenthe reference single track and the at least one single track, anddetermines the validity of each of the at least one single track basedon the distance information of the reference single track and the atleast one single track.

The processor 162 may, upon determining that the distance between thereference single track and each of the at least one single tracks isless than a reference distance in a predetermined time period, determinethat the reference single track and each of the at least one singletracks in the cluster area are valid, and when there is a single trackaway from the reference single track at a distance greater than or equalto the reference distance in the predetermined of time, determine thatthe single track is invalid. This will be described with reference toFIGS. 10A, 10B and 10C.

Referring to FIGS. 10A, 10B and 10C, the processor 162 obtains positioninformation of tracks and area information of a cluster area at a firsttime point t−1 and a second time point t at which a predetermined timeperiod has elapsed from the first time point t−1, and determines whetherall of the tracks in the cluster area are unchanged or changed based onthe position information of the tracks and the area information of thecluster area.

A(t−1)−A(t)=Ø, (A(t)={Oo,t,C _(1,t) ,C _(2,t)}

Referring to FIG. 10A and FIG. 10B, the processor 162, upon determiningthat the tracks in the cluster area are all the same even after passagefrom the first time point t−1 to the second time point t, obtainsposition information of the fusion track O in the cluster area, theposition information of the first single track C₁ in the cluster area,and the position information of the second single track C₂ in thecluster area at the first time point t−1, and obtains first distanceinformation L_(t-1,1) between the fusion track O and the first singletrack C₁ based on the position information of the fusion track O and theposition information of the first single track C₁, and obtains seconddistance information L_(t-1,2) between the fusion track O and the secondsingle track C₂ based on the position information of the fusion track Oand the position information of the second single track C₂.

L _(t-1,1)=√{square root over ((X _(O) _(t-1,0) −X _(C) _(t-1,1) )²+(Y_(O) _(t-1,0) −Y _(C) _(t-1,1) )²)}

L _(t-1,2)=√{square root over ((X _(O) _(t-1,0) −X _(C) _(t-1,2) )²+(Y_(O) _(t-1,0) −Y _(C) _(t-1,2) )²)}

The processor 162 obtains position information of the fusion track O inthe cluster area, the position information of the first single track C₁in the cluster area, and the position information of the second singletrack C₂ in the cluster area at the second time point t, and obtainsfirst distance information L_(t,1) between the fusion track O and thefirst single track C₁ based on the position information of the fusiontrack O and the position information of the first single track C₁, andobtains second distance information L_(t,2) between the fusion track Oand the second single track C₂ based on the position information of thefusion track O and the position information of the second single trackC₂.

The processor 162 determines whether a difference in first distancebetween the first time point and the second time point is less than areference distance based on the first distance information at the firsttime point and the first distance information at the second time point,determines whether a difference in second distance between the firsttime point and the second time point is less than a reference distancebased on the second distance information at the first time point and thesecond distance information at the second time point, and upondetermining that the difference in first distance is less than thereference distance and the difference in second distance is less thanthe reference distance, determines that both the first single track andthe second single track are valid. That is, the processor is configuredto determine that both the first single track and the second singletrack are obstacles in cluster-travelling, and control braking andsteering based on the position information of the first single track,the position information of the second single track, and the positioninformation of the fusion track.

The processor is configured to generate a signal of index T=1.

Referring to FIGS. 10A and 10C, the processor 162 may, upon determiningthat the difference in first distance is less than the referencedistance and the difference in second distance is greater than or equalto the reference distance, determine that the first single track isvalid and the second single track is invalid. That is, the processor 162may determine that only the first single track is an obstacle incluster-travelling, and control braking and steering based on theposition information of the first single track and the positioninformation of the fusion track.

The processor may control braking and steering based on area informationof the cluster area.

Referring to FIG. 11 , the processor 162 may obtain a TTC with thecluster area based on area information of the cluster area, velocityinformation of the cluster area, position information of the vehicle,and velocity information of the vehicle 1 obtained every predeterminedtime period (i.e., t, t+1, t+2), and upon determining that the TTC isless than a predetermined reference time, determine that there is a riskof collision and thus alert the driver to a collision, and transmit abraking signal to the brake device 152 or transmit a steering signal tothe steering device 153.

The processor 162 may generate a signal of index C=1.

When index T is 1 and index C is 1, the processor 162 may controlbraking and steering.

Because the processor 162 determines the possibility of collision byobtaining the cluster area, so that the possibility of collision may becontinuously and stably determined.

According to the exemplary embodiment of the present disclosure, becausethe cluster area is obtained based on a fusion track or a single track,robustness of collision determination may be secured even in a situationin which sensor fusion is not clear.

According to the exemplary embodiment of the present disclosure, thegate size of each track is adjusted by reflecting the dynamiccharacteristics of the vehicle when obtaining the cluster area, so thata collision may be flexibly responded to even in various travellingsituations, such as straight travelling and turning of an obstacle.

According to the exemplary embodiment of the present disclosure, a trackfor obtaining a cluster area includes not only vehicles and motorcyclesbut also general obstacles (cones), which may be recognized by a singlesensor, and thus collisions may be determined in various roadenvironments.

The processor 162 may include a memory for storing data regarding analgorithm for implementing the operations of the ADAS 160 or a programthat represents the algorithm, and a processor that performs theabove-described operations using the data stored in the memory.

The processor 162 may include a memory for storing data regarding analgorithm for controlling the operations of the components of thevehicle or a program that represents the algorithm, and a processor thatperforms the above-described operations using the data stored in thememory. In the instant case, the memory and the processor may beimplemented as separate chips. Alternatively, the memory and theprocessor may be implemented as a single chip.

The memory 163 may store information related to first and secondreference gate sizes, first and second reference velocities, tuningparameters, predetermined reference distances, and predeterminedreference times.

The memory 163 may store a program for determining the possibility ofcollision.

The memory 163 may store a program for performing an autonomous drivingmode and may store a program for performing a navigation mode.

The memory 163 may store a plurality of recognition areas for obstaclerecognition.

The memory 163 may store image information related to the shape ofobstacles.

The memory 163 may be a memory implemented as a chip separate from theprocessor described above in connection with the processor 162, or maybe implemented as a single chip with the processor.

The memory 163 may include a nonvolatile memory device, such as a cache,a read only memory (ROM), a programmable ROM (PROM), an erasableprogrammable ROM (EPROM), an electrically erasable programmable ROM(EEPROM), and a flash memory, a volatile memory device, such as arandom-access memory (RAM), or other storage media, such as a Hard DiskDrive (HDD), a CD-ROM, and the like, but the implementation of thememory 163 is not limited thereto. The storage may be a memoryimplemented as a chip separate from the processor described above inconnection with the controller, or may be implemented as a single chipwith the processor.

Meanwhile, the components shown in FIG. 3 may refer to a softwarecomponent and/or a hardware component, such as a Field Programmable GateArray (FPGA) and an Application Specific Integrated Circuit (ASIC).

Meanwhile, the disclosed exemplary embodiments of the present disclosuremay be embodied in a form of a recording medium storing instructionsexecutable by a computer. The instructions may be stored in a form ofprogram code, and when executed by a processor, may generate a programmodule to perform the operations of the disclosed exemplary embodimentsof the present disclosure. The recording medium may be embodied as acomputer-readable recording medium.

The computer-readable recording medium includes all kinds of recordingmedia in which instructions which may be decoded by a computer arestored, for example, a Read Only Memory (ROM), a Random-Access Memory(RAM), a magnetic tape, a magnetic disk, a flash memory, an optical datastorage device, and the like.

As is apparent from the above, the present disclosure is implemented toobtain a cluster area based on a fusion track or a reference singletrack, so that robustness of collision determination may be secured evenwhen sensor fusion is not clear.

The present disclosure is implemented to determine the possibility ofcollision based on a cluster area, so that the accuracy of collisiondetermination and the accuracy of braking control and avoidance controlmay be improved.

The present disclosure is implemented to adjust the gate size of eachtrack by reflecting dynamic characteristics of the vehicle whenobtaining a cluster area, so that a collision may be flexibly respondedeven in various traveling situations, such as straight travelling andturning of an obstacle.

The exemplary embodiment of the present disclosure is implemented toinclude not only vehicles and motorcycles but also general obstacle(cones), which may be recognized by a single sensor, as a track forobtaining a cluster area, collisions may be determined in various roadenvironments.

The present disclosure is implemented to output information related toan obstacle as notification information, so that the appearance of anobstacle may be flexibly responded, so that travelling safety may beimproved.

The present disclosure is implemented to recognize an obstacle andoutput notification information related to the recognized obstaclewithout hardware configuration added, preventing an increase in the costof the vehicle while improving the stability of the vehicle.

As described above, according to the present disclosure, themarketability of the ADAS and the vehicle may be improved, usersatisfaction may be improved, and product competitiveness may besecured.

In various exemplary embodiments of the present disclosure, the scope ofthe present disclosure includes software or machine-executable commands(e.g., an operating system, an application, firmware, a program, etc.)for facilitating operations according to the methods of variousembodiments to be executed on an apparatus or a computer, anon-transitory computer-readable medium including such software orcommands stored thereon and executable on the apparatus or the computer.

In various exemplary embodiments of the present disclosure, the controldevice may be implemented in a form of hardware or software, or may beimplemented in a combination of hardware and software.

Furthermore, the terms such as “unit”, “module”, etc. included in thespecification mean units for processing at least one function oroperation, which may be implemented by hardware, software, or acombination thereof.

For convenience in explanation and accurate definition in the appendedclaims, the terms “upper”, “lower”, “inner”, “outer”, “up”, “down”,“upwards”, “downwards”, “front”, “rear”, “back”, “inside”, “outside”,“inwardly”, “outwardly”, “interior”, “exterior”, “internal”, “external”,“forwards”, and “backwards” are used to describe features of theexemplary embodiments with reference to the positions of such featuresas displayed in the figures. It will be further understood that the term“connect” or its derivatives refer both to direct and indirectconnection.

The foregoing descriptions of specific exemplary embodiments of thepresent disclosure have been presented for purposes of illustration anddescription. They are not intended to be exhaustive or to limit thepresent disclosure to the precise forms disclosed, and obviously manymodifications and variations are possible in light of the aboveteachings. The exemplary embodiments were chosen and described in orderto explain certain principles of the invention and their practicalapplication, to enable others skilled in the art to make and utilizevarious exemplary embodiments of the present disclosure, as well asvarious alternatives and modifications thereof. It is intended that thescope of the present disclosure be defined by the Claims appended heretoand their equivalents.

What is claimed is:
 1. An advanced driver assistance system (ADAS)comprising: a communicator configured to communicate with a camera and aplurality of distance detectors; and a processor operatively connectedto the communicator and configured to: determine whether a fusion trackis present based on obstacle information recognized by the camera andobstacle information recognized by at least one of the plurality ofdistance detectors; upon concluding that the fusion track is present,generate a gate area of the fusion track based on movement informationof the fusion track and reference position information of the fusiontrack; generate a cluster area based on the gate area of the fusiontrack, position information of a plurality of single tracks, andmovement information of the plurality of single tracks; and determine apossibility of collision based on the obtained cluster area.
 2. The ADASof claim 1, wherein the processor is further configured to: determinewhether the fusion track is in a stationary state based on the movementinformation of the fusion track, and upon concluding that the fusiontrack is in the stationary state, generate the gate area of the fusiontrack based on first reference gate size information.
 3. The ADAS ofclaim 2, wherein the processor is further configured to: upon concludingthat the fusion track is in the stationary state, recognize singletracks in the stationary state based on the movement information of theplurality of single tracks; based on the position information of therecognized single tracks in the stationary state and the referenceposition information of the fusion track, recognize at least one singletrack which is present in a range less than or equal to a referencedistance from the fusion track; and obtain the cluster area based onposition information of the recognized at least one single track.
 4. TheADAS of claim 3, wherein the processor is further configured to: basedon the position information of the recognized at least one single track,generate a gate area of the recognized at least one single track;generate a line connecting a corner of the gate area of the fusion trackand a corner of the gate area of the at least one single track that areprovided adjacent to each other; and obtain the cluster area using thegenerated line as a boundary.
 5. The ADAS of claim 4, wherein, based onwhether the at least one single track at a first time point is a same asthe at least one single track at a second time point, and a change indistance between the fusion track and the at least one single trackcorresponding to a change in time from the first time point to thesecond time point, the processor is further configured to determinecluster validity for the at least one single track, and wherein thesecond time point is a time at which a predetermined time period haselapsed from the first time point.
 6. The ADAS of claim 1, wherein theprocessor is further configured to: determine whether the fusion trackis in a moving state based on the movement information of the fusiontrack; upon concluding that the fusion track is in the moving state,obtain first gate size information and second gate size informationbased on a velocity in a first direction of the fusion track, a velocityin a second direction of the fusion track, and first reference gate sizeinformation; generate a first gate area based on the obtained first gatesize information, and generate a second gate area based on the obtainedsecond gate size information.
 7. The ADAS of claim 6, wherein theprocessor is further configured to: upon concluding that the fusiontrack is in the moving state, identify single tracks located within thefirst gate area based on the position information of the plurality ofsingle tracks; and based on the movement information of the singletracks within the first gate area, a velocity of the fusion track in afirst direction, and the generated first gate area, recognize a firstsingle track, of which a velocity difference from the fusion track isless than or equal to a first reference velocity, among the singletracks in the moving state within the first gate area.
 8. The ADAS ofclaim 7, wherein the processor is further configured to: upon concludingthat the fusion track is in the moving state, identify single trackslocated within the second gate area based on the position information ofthe single tracks; and based on the movement information of the singletracks within the second gate area, a velocity of the fusion track in asecond direction, and the generated second gate area, recognize a secondsingle track, of which a velocity difference from the fusion track isless than or equal to a second reference velocity, among the singletracks in the moving state within the second gate area.
 9. The ADAS ofclaim 8, wherein the processor is further configured to: generate a gatearea of the first single track and a gate area of the second singletrack; and generate a line connecting a corner of the gate area of thefusion track and a corner of the gate area of the first single trackthat are provided adjacent to each other, and generate a line connectinga corner of the gate area of the fusion track and a corner of the gatearea of the second single track that are provided adjacent to eachother, to obtain the cluster area.
 10. The ADAS of claim 1, wherein theprocessor is further configured to: upon concluding that there is nofusion track, set a track recognized by the camera among the pluralityof single tracks as a reference single track; determine whether thereference single track is in a stationary state based on movementinformation of the reference single track; and upon concluding that thereference single track is in the stationary state, generate a gate areaof the reference single track based on reference position information ofthe reference single track and reference gate size information of thereference single track.
 11. The ADAS of claim 10, wherein the processoris further configured to: upon concluding that the reference singletrack is in the stationary state, recognize single tracks in thestationary state based on movement information of remaining singletracks among the plurality of single tracks; based on positioninformation of the recognized single tracks in the stationary state andthe reference position information of the reference single track,recognize at least one single track which is present in a range lessthan or equal to a reference distance from the reference single track;and obtain the cluster area based on position information of therecognized at least one single track.
 12. The ADAS of claim 11, whereinthe processor is further configured to: based on the positioninformation of the recognized at least one single track, generate a gatearea of the recognized at least one single track; generate a lineconnecting a corner of the gate area of the reference single track and acorner of the gate area of the at least one single track that areprovided adjacent to each other; and obtain the cluster area using thegenerated line as a boundary.
 13. The ADAS of claim 12, wherein, basedon whether the at least one single track at a first time point is a sameas the at least one single track at a second time point, and a change indistance between the reference single track and the at least one singletrack corresponding to a change in time from the first time point to thesecond time point, the processor is further configured to determinecluster validity for the at least one single track, and wherein thesecond time point is a time at which a predetermined time period haselapsed from the first time point.
 14. The ADAS of claim 10, wherein theprocessor is further configured to: determine whether the referencedsingle track is in a moving state based on the movement information ofthe referenced single track; and upon concluding that referenced singletrack is in the moving state, generate the gate area of the referencesingle track based on a velocity in a first direction of the referencesingle track, a velocity in a second direction of the referenced singletrack, and the reference gate size information.
 15. The ADAS of claim14, wherein the processor is further configured to: upon concluding thatthe reference single track is in the moving state, identify singletracks in the moving state based on movement information of remainingsingle tracks among the plurality of single tracks; and based onposition information of the identified single tracks in the movingstate, recognize single tracks in the moving state, which are locatedwithin the gate area of the reference single track, among the identifiedsingle tracks in the moving state.
 16. The ADAS of claim 15, wherein theprocessor is further configured to: based on the movement information ofthe recognized single tracks in the moving state and the movementinformation of the reference single track, recognize a single track inthe moving state, of which a velocity difference from the referencesingle track is less than or equal to a reference velocity, among therecognized single tracks in a moving state single track; and generate agate area of the recognized single track in the moving state andgenerate a line connecting a corner of the gate area of the referencesingle track and a corner of the gate area of the recognized singletrack in the moving state that are adjacent to each other, to obtain thecluster area.
 17. The ADAS of claim 16, wherein the processor is furtherconfigured to, based on whether the recognized single track in themoving state at a first time point is a same as the recognized singletrack in the moving state at a second time point, and a change indistance between the reference single track and the recognized singletrack in the moving state corresponding to a change in time from thefirst time point to the second time point, determine cluster validityfor the recognized single track in the moving state, wherein the secondtime point is a time at which a predetermined time period has elapsedfrom the first time point.
 18. A vehicle comprising: a camera; aplurality of distance detectors; a braking device; and a processoroperatively connected to the camera, the plurality of distance detectorsand the braking device, and configured to: recognize a fusion track anda plurality of single tracks based on obstacle information recognized bythe camera and obstacle information recognized by at least one of theplurality of distance detectors; upon concluding that the fusion trackis present, obtain a cluster area in a stationary state and a clusterarea in a moving state based on movement information and referenceposition information of the fusion track and movement information andposition information of each of the single tracks; and determine apossibility of collision based on the obtained cluster area, wherein theprocessor is further configured to: upon concluding that the fusiontrack is present, generate a gate area of the fusion track, generate agate area of at least one single track among the plurality of singletracks based on the gate area of the fusion track, and obtain thecluster area using the gate area of the fusion track and the gate areaof the at least one single track; and upon concluding that the fusiontrack is not present, set a single track recognized by the camera amongthe plurality of single tracks as a reference single track, generate agate area of the reference single track, generate gate areas ofremaining at least one single track among the plurality of single tracksbased on the gate area of the reference single track, and obtain thecluster area using the gate area of the reference single track and thegate area of the remaining at least one single track.
 19. The vehicle ofclaim 18, wherein the processor is further configured to, based onwhether the at least one single track at a first time point is a same asthe at least one single track at a second time point, and a change indistance between the fusion track and the at least one single trackcorresponding to a change in time from the first time point to thesecond time point, determine cluster validity for the at least onesingle track, wherein the second time point is a time at which apredetermined time period has elapsed from the first time point.
 20. Thevehicle of claim 18, wherein the processor is further configured to,based on whether the remaining at least one single track at a first timepoint is a same as the remaining at least one single track at a secondtime point, and a change in distance between the reference single trackand the remaining at least one single track corresponding to a change intime from the first time point to the second time point, determinecluster validity for the remaining at least one single track, andwherein the second time point is a time at which a predetermined timeperiod has elapsed from the first time point.